CN112729156A - Data splicing and system calibration method of human body digital measuring device - Google Patents
Data splicing and system calibration method of human body digital measuring device Download PDFInfo
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Abstract
The invention provides a data splicing and system calibration method of a human body digital measuring device, which comprises the following steps: carrying out three-dimensional calibration on the first binocular sensor, the second binocular sensor and the third binocular sensor to establish a measurement coordinate system, and determining the measurement coordinate system of the first binocular sensor to be a global coordinate system; determining the position relation of a rotating shaft of the rotary table in a global coordinate system; splicing the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor to a global coordinate system every time to obtain primary splicing data; and realizing rotary splicing of the plurality of preliminary splicing data based on the corresponding angles of the counter-rotation around the rotating shaft. The data splicing and system calibration method provided by the invention is simple, a movable guide rail is not required to be arranged, the difference between the environment of the calibration process and the actual measurement is reduced, the measurement precision is improved, and the labor intensity is reduced.
Description
Technical Field
The invention belongs to the technical field of non-contact human body measurement, and particularly relates to a data splicing and system calibration method of a human body digital measurement device.
Background
At present, human body measurement is an important means for establishing a digital three-dimensional model of a human body, and the fields of intelligent clothing production, medical plastic, 3D printing and the like have wide requirements on non-contact human body measurement mainly based on an optical measurement technology. In the field of clothing production, along with the improvement of the material level of people, the requirements of consumers on the comfort, the attractiveness and the individuation level of clothing are higher and higher. In particular, in the field of batch garment manufacturing, garment manufacturers mainly perform batch manufacturing according to the existing garment model standards. However, China has a large population, people in different regions and ages have large body types, and the limited standard of the clothing model cannot cover diversified body types, so that the attractiveness and the comfort of wearing the clothing are influenced to a certain extent; and may cause inconvenience to the flexible extension of the person in work and exercise. With the advent of intelligent manufacturing technology, the garment industry is also changing from the traditional processing mode to the digital and intelligent production mode, and it is especially important to establish a human body database which conforms to the body shape distribution condition of the human body in China. The digitalization of the human body starts earlier in foreign countries, and a plurality of human body three-dimensional measuring systems are developed in developed countries in the early period of this century, such as Vitus Smart type non-contact three-dimensional human body measuring instrument of France Ricker and TELMAT type three-dimensional human body measuring instrument of Assyst Bullmer of Germany, Cyberware Wb4 of America, Wicks and Wislon Triform of UK, Hamamatsu Bodyline of Japan, and the like. In recent years, a large amount of research and development work is also carried out in the aspect of human body measurement systems in China, and Beijing Bo Wei constant trust company has introduced a first set of 3D CaMega human body scanning system with independent intellectual property rights in China, the system has 8 binocular structure optical scanners, wherein 2 scanners are distributed on each upright post, the total occupied space is 2700mm × 2200mm × 2100mm, the measurement precision is 0.5mm, and the system scanning time is less than 8 seconds. In summary, there are many three-dimensional scanners capable of acquiring complete dense data of human body at home and abroad, and although the measurement principles are different, the current main measurement mode is multi-sensor multi-column combined measurement. The non-contact human body measuring instrument at home and abroad mostly completes the measurement task through a binocular sensor, the binocular vision sensor consists of two area array CCD cameras with the same performance, and can complete the three-dimensional measurement of all characteristic points in a visual field based on the principle of stereo parallax, in particular to the measurement tasks which can not be completed by other types of vision sensors, such as the measurement of the center of a circular hole, the position of the vertex of a triangular prism, and the like. Accordingly, the binocular vision sensor is one of the main sensors of the multi-sensor vision detection system. To realize the three-dimensional measurement of the key points of the large object directly measured by the binocular vision sensor, the internal parameters (parameters of the cameras), the structural parameters (the position relationship between the two cameras) of the sensor and the relationship between the sensor coordinate system and the overall coordinate system of the detection system (namely global calibration) must be known. Therefore, the camera is calibrated before actual measurement. The general method is that before the sensor is provided for the whole system, the calibration of the internal parameters and the structural parameters of the sensor is finished off line, a standard two-dimensional precise target and a one-dimensional precise guide rail are adopted, one coordinate of a coordinate system is determined by moving the guide rail, and the parameters are obtained through the corresponding relation between the image plane coordinate of a camera and three world coordinates.
The disadvantages of this method are: in the calibration process, the vertical relation between the target and the guide rail needs to be accurately adjusted, and the guide rail needs to be accurately moved for multiple times; meanwhile, the environment of the calibration process is different from the actual measurement situation; in the installation process of the sensor, part of parameters are easy to change, and the sensor needs to be disassembled for many times; the camera also needs to be calibrated globally, so that the calibration labor intensity is high and the precision is difficult to guarantee.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
In view of the above, an object of the present invention is to provide a data splicing and system calibration method for a digital measurement device of a human body.
In order to achieve the purpose, the technical scheme of the invention provides a data splicing and system calibration method of a human body digital measuring device, the human body digital measuring device specifically comprises a rotary table, an upright column arranged on one side of the rotary table, a first binocular sensor, a second binocular sensor and a third binocular sensor which are sequentially arranged on the upright column from bottom to top at intervals, a measured object is arranged on the rotary table, and the rotary table rotates 90 degrees each time and stops after rotating 3 times; the data splicing and system calibration method comprises the following steps: carrying out three-dimensional calibration on the first binocular sensor, the second binocular sensor and the third binocular sensor to establish a measurement coordinate system, and determining the measurement coordinate system of the first binocular sensor to be a global coordinate system; determining the position relation of a rotating shaft of the rotary table in a global coordinate system; splicing the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor to a global coordinate system every time to obtain primary splicing data; and realizing rotary splicing of the plurality of preliminary splicing data based on the corresponding angles of the counter-rotation around the rotating shaft.
Further, splicing the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor to the global coordinate system each time to acquire preliminary splicing data specifically comprises: acquiring point cloud data of a measured object measured by a third binocular sensor, a second binocular sensor and a first binocular sensor when the rotating platform is at 0 degrees, 90 degrees, 180 degrees and 270 degrees; and when the rotary table is respectively at 0 degrees, 90 degrees, 180 degrees and 270 degrees, the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor are spliced into the global coordinate system to correspondingly obtain first preliminary splicing data, second preliminary splicing data, third preliminary splicing data and fourth preliminary splicing data.
Further, splicing the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor into the global coordinate system specifically means: splicing the point cloud data of the measured object measured by the third binocular sensor and the second binocular sensor into a measurement coordinate system of the second binocular sensor to obtain local point cloud data; and splicing the local point cloud data and the point cloud data of the measured object measured by the first binocular sensor into a global coordinate system to obtain primary splicing data.
Further, the implementation of the rotation splicing of the plurality of preliminary splicing data based on the corresponding angles of the counter-rotation around the rotating shaft specifically includes: acquiring a splicing relational expression around a rotating shaft based on the Rodrigues transformation; and realizing data splicing of the whole system according to the first preliminary splicing data, the second preliminary splicing data, the third preliminary splicing data and the fourth preliminary splicing data by combining a splicing relational expression around the rotating shaft.
Further, before the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor each time is spliced into the global coordinate system, the method further comprises the following steps: and establishing the calibration of the pose relationship among the third binocular sensor, the second binocular sensor and the first binocular sensor.
Further, before establishing the calibration of the pose relationship among the third binocular sensor, the second binocular sensor and the first binocular sensor, the method further comprises the following steps: setting a target calibration rod, and indirectly establishing a common view field among a third binocular sensor, a second binocular sensor and a first binocular sensor; acquiring three-dimensional physical coordinates of a plurality of target points by using a third binocular sensor, a second binocular sensor and a first binocular sensor; and calculating the pose transformation relation among the third binocular sensor, the second binocular sensor and the first binocular sensor according to the corresponding relation between the target point to be measured and the physical point in the target coordinate system.
Furthermore, the measured object is a cuboid and is arranged on the rotary table coaxially and vertically with the rotary shaft of the rotary table.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: the human body digital measuring device provided by the invention can reduce the number of sensors on the premise of meeting the requirement of measuring the three-dimensional data of the human body, and the sensors do not need to be arranged on the periphery of the rotary table, so that the occupied area is reduced. The data splicing and system calibration method provided by the invention is simple, a movable guide rail is not required to be arranged, the difference between the environment of the calibration process and the actual measurement is reduced, the measurement precision is improved, and the labor intensity is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a digital human body measuring device according to an embodiment of the present invention;
FIG. 2 shows a coordinate system and a data stitching diagram of a digital measurement device of a human body according to an embodiment of the invention;
FIG. 3 shows a schematic structural view of a target calibration rod according to an embodiment of the present invention.
The symbols in the figures are as follows:
the device comprises a turntable 1, a rotating shaft 11, an object to be measured 2, a first binocular sensor 3, a second binocular sensor 4, a third binocular sensor 5, a column 6, a target calibration rod 7, a connecting rod 71 and a target block 72.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention and advantageous effects thereof will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a data splicing and system calibration method for a human body digital measurement device, where the human body digital measurement device specifically includes a rotary table 1, an upright post 6 disposed on one side of the rotary table 1, and a first binocular sensor 3, a second binocular sensor 4, and a third binocular sensor 5 that are sequentially disposed on the upright post 6 from bottom to top at intervals, a measured object 2 is disposed on the rotary table 1, and the rotary table 1 rotates 90 ° each time and stops after rotating 3 times, specifically, the binocular vision sensor is composed of two area array CCD cameras with the same performance, and based on the principle of stereo parallax, three-dimensional measurement of all feature points in a field of view can be completed, especially, measurement tasks that cannot be completed by other types of vision sensors, such as measurement of the center of a circular hole and the position of a triangular apex. Accordingly, the binocular vision sensor is one of the main sensors of the multi-sensor vision detection system. To realize the three-dimensional measurement of the key points of the large object directly measured by the binocular vision sensor, the internal parameters (parameters of the cameras), the structural parameters (the position relationship between the two cameras) of the sensor and the relationship between the sensor coordinate system and the overall coordinate system of the detection system (namely global calibration) must be known. Therefore, the camera is calibrated before actual measurement.
The human body digital measuring device provided by the invention comprises a rotary table 1, wherein a binocular sensor respectively measures a measured object 2 on the rotary table 1 for four times, and the rotation angles of the rotary table 1 are respectively 0 degree, 90 degrees, 180 degrees and 270 degrees. The data splicing and system calibration method comprises the following steps:
step S1: carrying out three-dimensional calibration on the first binocular sensor 3, the second binocular sensor 4 and the third binocular sensor 5 to establish a measurement coordinate system, and determining the measurement coordinate system of the first binocular sensor 3 as a global coordinate system;
step S2: determining the position relation of a rotating shaft 11 of the rotary table 1 in a global coordinate system;
step S3: the point cloud data of the measured object 2 measured by the third binocular sensor 5, the second binocular sensor 4 and the first binocular sensor 3 are spliced to a global coordinate system each time to obtain primary splicing data;
step S4: and carrying out rotary splicing on the plurality of preliminary splicing data based on the corresponding angles of the reverse rotation around the rotating shaft 11.
Specifically, as shown in fig. 2, there are 4 measurement viewing angles in one measurement period, the rotation angle of the turntable 1 is 90 ° between every two measurement viewing angles, the starting position of the turntable 1 is set to be the measurement viewing angle 1, and the positions rotated by 90 °, 180 °, and 270 ° are respectively the viewing angle 2, the viewing angle 3, and the viewing angle 4. Calibrating the measuring coordinate systems of the first binocular sensor 3, the second binocular sensor 4 and the third binocular sensor 5, wherein the corresponding relation is the first binocular sensor 3 (O)1X1Y1Z1) Second binocular sensor 4 (O)2X2Y2Z2) And a third binocular sensor 5 (O)3X3Y3Z3) And determining the coordinate system (O) of the first binocular sensor 31X1Y1Z1) Is the global coordinate system of the measurement system. Determining the rotation axis 11 of the turntable 1 in a coordinate system (O)1X1Y1Z1) In particular, the position relation of the rotating shaft 11 in the coordinate system (O)1X1Y1Z1) Normal vector of (n)x，ny，nz)。
The system relates to data splicing of two parts, the first part is data splicing of point clouds measured by three sensors on an upright post 6, the point clouds measured by a third binocular sensor 5 and the point clouds measured by a second binocular sensor 4 are spliced into a measurement coordinate system of the second binocular sensor 4, and then the spliced point clouds are spliced into a measurement coordinate system transmitted to a first binocular sensor 3. The two coordinate transformation processes are respectively as follows:
wherein the formula (0-1) is a coordinate system (O)3X3Y3Z3) To a coordinate system (O)2X2Y2Z2) The formula (0-2) is a coordinate system (O)2X2Y2Z2) To a coordinate system (O)1X1Y1Z1) The position and pose conversion matrix relational expression. (x)3，y3，z3)、(x2，y2，z2)、(x1，y1，z1) Respectively are measured point coordinates in three coordinate systems. Therefore, at the starting position of the turntable 1, 4 measuring view angles at which the rotation is 90 degrees, 180 degrees and 270 degrees, point cloud data measured by three binocular sensors at each view angle are spliced at one side, and four primary splicing data are acquired corresponding to four view angles.
And the second part of data splicing is to splice the acquired four initial spliced data with the initial position of the rotary table 1 as a reference, and the other 3 visual angles are spliced with the data of the visual angle 1 by respectively rotating reversely by 90 degrees, 180 degrees and 270 degrees around the rotary shaft 11, so that the point cloud data of the whole system is finally spliced, and the complete three-dimensional image data of the measured object 2 is acquired.
Further, the step of splicing the point cloud data of the measured object 2 measured by the third binocular sensor 5, the second binocular sensor 4 and the first binocular sensor 3 to the global coordinate system each time to obtain the preliminary spliced data specifically includes the steps of:
step S1: acquiring point cloud data of a measured object 2 measured by a third binocular sensor 5, a second binocular sensor 4 and a first binocular sensor 3 when the rotating platform 1 is at 0 degrees, 90 degrees, 180 degrees and 270 degrees;
step S2: when the rotary table 1 is respectively at 0 degrees, 90 degrees, 180 degrees and 270 degrees, the point cloud data of the measured object 2 measured by the third binocular sensor 5 and the second binocular sensor 4 are spliced into the measurement coordinate system of the second binocular sensor 4, the local point cloud data and the point cloud data of the measured object 2 measured by the first binocular sensor 3 are spliced into the global coordinate system, and therefore first preliminary splicing data, second preliminary splicing data, third preliminary splicing data and fourth preliminary splicing data are correspondingly obtained.
Specifically, because third binocular sensor 5, second binocular sensor 4, first binocular sensor 3 all acquires the point cloud data of different visual angles to the initial position of measured object 2 at revolving stage 1 respectively that the rotation angle is 0 °, rotate 90 °, rotate 180 °, rotate 270 four positions, consequently when carrying out the data concatenation of first part, acquire the preliminary concatenation data of four different angles altogether, specifically, the initial position of revolving stage 1 is that the rotation angle is 0 ° and corresponds first preliminary concatenation data, revolving stage 1 rotates 90 ° and corresponds second preliminary concatenation data, revolving stage 1 rotates 180 ° and corresponds third preliminary concatenation data, revolving stage 1 rotates 270 ° and corresponds fourth preliminary concatenation data.
Further, implementing the rotation splicing of the plurality of preliminary splicing data based on the corresponding angles of the reverse rotation around the rotating shaft 11 specifically includes:
step S1: acquiring a splicing relational expression around a rotating shaft 11 based on the Rodrigues transformation;
step S1: and realizing data splicing of the whole system according to the first preliminary splicing data, the second preliminary splicing data, the third preliminary splicing data and the fourth preliminary splicing data by combining a splicing relational expression around the rotating shaft 11.
Specifically, the splicing relationship about the rotation axis 11 is as follows:
and the data splicing of the second part is to splice the first preliminary splicing data, the second preliminary splicing data, the third preliminary splicing data and the fourth preliminary splicing data, and the formula is shown as (0-3):
where (x1, y1, z1) represents 3 binocular sensors on the upright 6The device is spliced to (O)1X1Y1Z1) The coordinate of the measuring point in the coordinate system (Ox, Oy, Oz) is that any point on the rotating shaft 11 is at (O)1X1Y1Z1) Coordinates in a coordinate system, (n)x，ny，nz) Is a rotating shaft 11 is in (O)1X1Y1Z1) Normal vectors in a coordinate system; the rotation angle of the turntable 1 corresponding to the visual angle is shown, rodrigues show the Rodrigues transformation; and (x, y, z) is the global point coordinate after splicing is completed.
The data splicing process is summarized, namely after each visual angle measurement is finished, the local measurement data of 3 binocular sensors are spliced to (O) based on the formulas (0-1) and (0-2)1X1Y1Z1) And then, the splicing result is reversely rotated by a corresponding angle around the rotating shaft 11 based on the formula (0-3) to realize rotary splicing, so that the data splicing of the whole system can be realized.
Further, before the step of splicing the point cloud data of the measured object 2 measured by the third binocular sensor 5, the second binocular sensor 4, and the first binocular sensor 3 into the global coordinate system each time, the method further includes:
step S1: a target calibration rod 7 is arranged, and a common view field among the third binocular sensor 5, the second binocular sensor 4 and the first binocular sensor 3 is indirectly established;
step S2: acquiring three-dimensional physical coordinates of a plurality of target points by using a third binocular sensor 5, a second binocular sensor 4 and a first binocular sensor 3;
step S3: and calculating the pose transformation relation among the third binocular sensor 5, the second binocular sensor 4 and the first binocular sensor 3 according to the corresponding relation between the measured target point and the physical point in the target coordinate system.
Specifically, the designed binocular sensor has a measurement scene of 680mm × 544mm, and since a general small scene plane calibration plate is not suitable for accurate calibration of the sensor, and a large scene calibration plate has a very high processing cost, the invention adopts a 70-inch LCD screen (LCD-70SU685A) to display a circular spot array image designed according to the resolution of a display in a full screen manner, and can calculate the pixel size of the displayed image according to the physical size of the display, and adopts a planar calibration algorithm of Zhang Zhengyou to perform binocular stereo calibration on each sensor. And then, calibrating the pose relationship among 3 sensors, wherein the repeated view field between two adjacent sensors is very small, so that the repeated view field cannot be directly utilized for calibration. For multi-sensor calibration with small or no repeating fields of view, a common approach is to indirectly establish a common field of view between the sensors.
The invention designs a portable target calibration rod 7, two target blocks 72 are connected through a rigid connecting rod 71, and a common view field between two adjacent sensors is indirectly established. The designed calibration rod is provided with a target block 72 at each end, the length of the connecting rod 71 is the same as the distance between the two sensors, and the target blocks 72 at the two ends can be respectively positioned in the respective visual fields of the two sensors during calibration. It should be noted that the only difference between the two target blocks 72 is whether a large target point is centered, so that the two target blocks 72 can be automatically distinguished during calibration.
Target coordinate system (O)BXBYBZB) The invention uses CREAFMM C-Track as the coordinate system of the physical coordinate of the target pointTMAnd acquiring three-dimensional physical coordinates of each target point by using an Elite binocular tracking device.
(OSiXSiYSiZSi) And (O)SjXSjYSjZSj) Respectively representing the measurement coordinate systems of two adjacent sensors on the upright post 6, the target coordinate system and the pose transformation matrix between the two coordinate systems are respectively
And
the three-dimensional coordinates of a plurality of target points on the target block 72 are measured by the binocular sensor, and then the three-dimensional coordinates can be calculated according to the corresponding relation between the measured points and the physical points in the target coordinate system
And
therefore, a pose transformation matrix from the measurement coordinate system of the sensor j to the measurement coordinate system of the sensor i can be obtained as follows:
as shown in fig. 3, in order to improve the calibration accuracy in the actual calibration, the posture of the target rod is adjusted for multiple times under the condition that the field of view allows for calibration image acquisition, an optimized error function is established by using the physical distance from a plurality of target points on the target block 72 to different target points on another target block 72, and the calculation results of the multiple groups of images are optimized by using the LM algorithm to obtain the final calibration result.
Finally, the counter shaft 11 is required to be in (O)1X1Y1Z1) The position in the middle is calibrated, the invention adopts a plane rotation measurement rotating shaft 11 calibration method proposed by Zhan Song et al, and the premise condition of the calibration method is that the measured plane is vertical to the plane of the rotary table 1. Because the machining and the assembly precision of the rotary table 1 are higher, the measured object 2 is a high-precision ceramic cuboid and is vertically placed on the rotary table 1, the measured plane and the rotary table 1 can be regarded as a vertical relation, and the rotary table 1 is controlled to rotate for a plurality of angles to perform multi-angle measurement on the plane by adopting the first binocular sensor 3. In (O)1X1Y1Z1) In the coordinate system, a plurality of planes can be fitted from the measured data, the intersection line of any two fitting planes is calculated, the normal vectors of all the intersection lines are averaged, and the obtained result is regarded as the normal vector (n) of the rotating shaft 11x，ny，nz). And then, based on the constraint condition that the distances from one point (Ox, Oy, Oz) on the rotating shaft 11 to each fitting plane are equal, the point can be optimally solved, and the specific process is not repeated in this chapter. This makes it possible to calibrate the entire measuring system.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A data splicing and system calibration method of a human body digital measuring device is characterized in that the human body digital measuring device specifically comprises a rotary table, an upright post arranged on one side of the rotary table, a first binocular sensor, a second binocular sensor and a third binocular sensor which are sequentially arranged on the upright post from bottom to top at intervals, a measured object is arranged on the rotary table, and the rotary table rotates 90 degrees each time and stops after rotating 3 times;
the data splicing and system calibration method comprises the following steps:
carrying out three-dimensional calibration on the first binocular sensor, the second binocular sensor and the third binocular sensor to establish a measurement coordinate system, and determining the measurement coordinate system of the first binocular sensor to be a global coordinate system;
determining the position relation of a rotating shaft of the rotary table in a global coordinate system;
splicing the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor to a global coordinate system to obtain primary splicing data;
and realizing rotary splicing of the plurality of preliminary splicing data based on the corresponding angles of the counter-rotation around the rotating shaft.
2. The data splicing and system calibration method of the human body digital measurement device according to claim 1, wherein the step of splicing the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor to a global coordinate system each time to obtain preliminary spliced data specifically comprises:
acquiring point cloud data of a measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor when the rotating platform is at 0 degrees, 90 degrees, 180 degrees and 270 degrees;
and respectively splicing the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor into a global coordinate system when the rotating table is at 0 degrees, 90 degrees, 180 degrees and 270 degrees so as to correspondingly obtain first preliminary splicing data, second preliminary splicing data, third preliminary splicing data and fourth preliminary splicing data.
3. The data splicing and system calibration method of the human body digital measurement device according to claim 2, wherein the splicing of the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor into the global coordinate system specifically means:
the point cloud data of the measured object measured by the third binocular sensor and the second binocular sensor are spliced into a measurement coordinate system of the second binocular sensor, and local point cloud data are obtained;
and splicing the local point cloud data and the point cloud data of the measured object measured by the first binocular sensor into a global coordinate system to obtain primary splicing data.
4. The data splicing and system calibration method of the human body digital measurement device according to claim 2, wherein the implementation of the rotation splicing of the plurality of preliminary spliced data based on the corresponding angles of the counter-rotation around the rotation axis specifically comprises:
acquiring a splicing relational expression around a rotating shaft based on the Rodrigues transformation;
and realizing data splicing of the whole system according to the first preliminary splicing data, the second preliminary splicing data, the third preliminary splicing data and the fourth preliminary splicing data by combining a splicing relational expression around a rotating shaft.
5. The data splicing and system calibration method for the human body digital measurement device according to claim 1, wherein before the point cloud data of the measured object measured by the third binocular sensor, the second binocular sensor and the first binocular sensor are spliced into the global coordinate system each time, the method further comprises:
and establishing the calibration of the pose relationship among the third binocular sensor, the second binocular sensor and the first binocular sensor.
6. The data splicing and system calibration method of the human body digital measurement device according to claim 5, wherein before establishing the calibration of the pose relationship among the third binocular sensor, the second binocular sensor and the first binocular sensor, the method further comprises:
setting a target calibration rod, and indirectly establishing a common view field among the third binocular sensor, the second binocular sensor and the first binocular sensor;
acquiring three-dimensional physical coordinates of a plurality of target points by using the third binocular sensor, the second binocular sensor and the first binocular sensor;
and calculating the pose transformation relation among the third binocular sensor, the second binocular sensor and the first binocular sensor according to the corresponding relation between the measured target point and the physical point in the target coordinate system.
7. The data splicing and system calibration method of the human body digital measurement device according to claim 1,
the measured object is a cuboid and is coaxially and vertically placed on the rotary table with the rotary shaft of the rotary table.
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